The Model of Autonomous Unmanned Underwater Vehicles Interaction for Collaborative Missions

Abstract

Results of the work carried out by Saint-Petersburg State Marine Technical University in the framework of the project, connected with complex researches in maintenance of creation of a multi-agent sensory-communication network based on marine robotic platforms (MRP), are presented. In the context of the mentioned works, creation and testing of communication protocol for µAUVs with hydroacoustic modems is proposed. The article describes steps of protocol creation: from mission planning to modem control and modeling with digital imitation model testing (Solving the task of monitoring the seabed area). Within the framework of the concept of a “budget”, limited serial product, functional systems/modules of µAUV are worked out, taking into account the availability of equipment and components (concerning required technical characteristics and their cost). For the selected external appearance and design dimensions of the device, the simulation of hydrodynamic, signal power and energy characteristics were performed. Within the framework of the project, a software and hardware architecture of the information system of the vehicle was developed, as well as a model of interaction between the µAUV, the wave glider and control center. The work results in proposal and testing of µAUVs communication through the water. Simulation results of implementing mission by a group of developed µAUVs can be modeled by ground robots with some software limitations. Based on the results, ways for further work on the subjects are being determined.